diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index cc31293ba..9d51def4d 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -25,46 +25,46 @@ on:
       - ".cache/**"
 
 jobs:
-  # pytest:
-  #   name: Pytest
-  #   runs-on: ubuntu-latest
-  #   env:
-  #     DATA_DIR: tests/data
-  #     MUJOCO_GL: egl
-  #   steps:
-  #     - uses: actions/checkout@v4
-  #       with:
-  #         lfs: true  # Ensure LFS files are pulled
-
-  #     - name: Install apt dependencies
-  #     # portaudio19-dev is needed to install pyaudio
-  #       run: |
-  #         sudo apt-get update && \
-  #         sudo apt-get install -y libegl1-mesa-dev ffmpeg portaudio19-dev
-
-  #     - name: Install poetry
-  #       run: |
-  #         pipx install poetry && poetry config virtualenvs.in-project true
-  #         echo "${{ github.workspace }}/.venv/bin" >> $GITHUB_PATH
-
-  #     # TODO(rcadene, aliberts): python 3.12 seems to be used in the tests, not python 3.10
-  #     - name: Set up Python 3.10
-  #       uses: actions/setup-python@v5
-  #       with:
-  #         python-version: "3.10"
-  #         cache: "poetry"
-
-  #     - name: Install poetry dependencies
-  #       run: |
-  #         poetry install --all-extras
-
-  #     - name: Test with pytest
-  #       run: |
-  #         pytest tests -v --cov=./lerobot --durations=0 \
-  #           -W ignore::DeprecationWarning:imageio_ffmpeg._utils:7 \
-  #           -W ignore::UserWarning:torch.utils.data.dataloader:558 \
-  #           -W ignore::UserWarning:gymnasium.utils.env_checker:247 \
-  #           && rm -rf tests/outputs outputs
+  pytest:
+    name: Pytest
+    runs-on: ubuntu-latest
+    env:
+      DATA_DIR: tests/data
+      MUJOCO_GL: egl
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          lfs: true  # Ensure LFS files are pulled
+
+      - name: Install apt dependencies
+      # portaudio19-dev is needed to install pyaudio
+        run: |
+          sudo apt-get update && \
+          sudo apt-get install -y libegl1-mesa-dev ffmpeg portaudio19-dev
+
+      - name: Install poetry
+        run: |
+          pipx install poetry && poetry config virtualenvs.in-project true
+          echo "${{ github.workspace }}/.venv/bin" >> $GITHUB_PATH
+
+      # TODO(rcadene, aliberts): python 3.12 seems to be used in the tests, not python 3.10
+      - name: Set up Python 3.10
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.10"
+          cache: "poetry"
+
+      - name: Install poetry dependencies
+        run: |
+          poetry install --all-extras
+
+      - name: Test with pytest
+        run: |
+          pytest tests -v --cov=./lerobot --durations=0 \
+            -W ignore::DeprecationWarning:imageio_ffmpeg._utils:7 \
+            -W ignore::UserWarning:torch.utils.data.dataloader:558 \
+            -W ignore::UserWarning:gymnasium.utils.env_checker:247 \
+            && rm -rf tests/outputs outputs
 
   pytest-minimal:
     name: Pytest (minimal install)
@@ -97,7 +97,7 @@ jobs:
 
       - name: Test with pytest
         run: |
-          pytest tests/test_control_robot.py -v --cov=./lerobot --durations=0 \
+          pytest tests -v --cov=./lerobot --durations=0 \
             -W ignore::DeprecationWarning:imageio_ffmpeg._utils:7 \
             -W ignore::UserWarning:torch.utils.data.dataloader:558 \
             -W ignore::UserWarning:gymnasium.utils.env_checker:247 \